The soft robotics field has a significant impact on developing new methods for creating robots that were impossible to achieve with classical rigid methods [1]}. With the increase of soft actuators, soft robots are usually tethered with many rigid parts as an actuation method, such as valves for pneumatic systems. While there is a trend to develop a soft actuation method like soft valves, minimising the tethered parts can be essential for some applications that require portability and low power consumption [2]}, [3]}. Self-organisation is a concept that has been described the last few decades [4]}, though it has not been fully adapted in the soft robotics field [5]}. Underactuated soft robotics can be a good direction for dealing with multiple degrees of freedom to simplify the control system architecture. It can be possible to achieve an underactuated system by applying the first principles [6]}. Break of symmetry is a first principle method that can benefit soft robotics by analysing any bifurcation in the system that can be depicted and operated without majorly changing the control strategy of the system. The morphology of soft actuators is another aspect of self-organisation that can be investigated to achieve more adaptable behaviour without external control signals.
